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Geometric Optimization for 3D Pose Estimation of Quadratic Surfaces

Lee, Pei Yean; Moore, John

Description

Our task is 3D pose estimation for on-line application in industrial robotics and machine vision. It involves the estimation of object position and orientation relative to a known model. Since most man made objects can be approximated by a small set of quadratic surfaces, in this paper we focus on pose estimation of such surfaces. Our optimization is of an error measure between the CAD model and the measured data. Most existing algorithms are sensitive to noise and occlusion or only converge...[Show more]

CollectionsANU Research Publications
Date published: 2004
Type: Conference paper
URI: http://hdl.handle.net/1885/80706
Source: Thirty-Eighth Asilomar Conference on Signals, Systems and Computers

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